dijkstra.h

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#ifndef DLUX_PLUGINS_DIJKSTRA_H
#define DLUX_PLUGINS_DIJKSTRA_H
 
#include <dlux_global_planner/potential_calculator.h>
#include <queue>
 
namespace dlux_plugins
{
class Dijkstra : public dlux_global_planner::PotentialCalculator
{
public:
  // Main PotentialCalculator interface
  unsigned int updatePotentials(dlux_global_planner::PotentialGrid& potential_grid,
                                const geometry_msgs::Pose2D& start, const geometry_msgs::Pose2D& goal) override;
protected:
  void add(dlux_global_planner::PotentialGrid& potential_grid, nav_grid::Index next_index);
 
  std::queue<nav_grid::Index> queue_;
};
}  // namespace dlux_plugins
 
#endif  // DLUX_PLUGINS_DIJKSTRA_H